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An approximation algorithm for d 1 -optimal motion of a rod robot with fixed rotations.
- Source :
-
International Journal of Computer Mathematics . Mar2006, Vol. 83 Issue 3, p357-370. 14p. 7 Diagrams. - Publication Year :
- 2006
-
Abstract
- Given a translating and rotating rod robot in a plane in the presence of polygonal obstacles with the initial and final placements of the rod known, the d 1 -optimal motion planning problem is defined as finding a collision-free motion of the rod such that the orbit length of a fixed but arbitrary point F on the rod is minimized. In this paper we study a special case of this problem in which the rod can translate freely, but can only rotate by some pre-specified given angles around F . We first characterize the d 1 -optimal motion of the robot under the given conditions and then present a (1 + ε)–approximation algorithm for finding the optimal path. The running time of the algorithm is bounded by a polynomial in terms of some parameters related to the problem input. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 00207160
- Volume :
- 83
- Issue :
- 3
- Database :
- Academic Search Index
- Journal :
- International Journal of Computer Mathematics
- Publication Type :
- Academic Journal
- Accession number :
- 22483250
- Full Text :
- https://doi.org/10.1080/00207160600847787